RemoteGui.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
#include <string>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/services/tasks/RunningTask.h>
 
#include <ArmarXGui/interface/RemoteGuiInterface.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Tab.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
#include <ArmarXGui/libraries/RemoteGui/WidgetProxy.h>
 
namespace armarx::navigation::components::navigator
{
    class Component;
 
    class RemoteGui
    {
    public:
        RemoteGui(const RemoteGuiInterfacePrx& remoteGui, Component& navigator);
 
        ~RemoteGui();
 
        void shutdown();
 
        void enable();
        void disable();
 
        void reset();
 
    private:
        std::mutex mtx;
 
        std::mutex handleEventsMtx;
        RemoteGuiInterfacePrx remoteGui;
 
        RunningTask<RemoteGui>::pointer_type runningTask;
 
        Component& navigator;
 
        armarx::RemoteGui::TabProxy tabPrx;
 
        void createRemoteGuiTab();
 
        // thread function
        void run();
 
        void handleEvents(armarx::RemoteGui::TabProxy& tab);
 
        const std::string REMOTE_GUI_TAB_MAME = "Navigator";
 
        struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
        {
            armarx::RemoteGui::Client::HBoxLayout hbox;
 
            struct
            {
                armarx::RemoteGui::Client::GroupBox group;
 
                armarx::RemoteGui::Client::FloatSpinBox targetPoseX;
                armarx::RemoteGui::Client::FloatSpinBox targetPoseY;
                armarx::RemoteGui::Client::FloatSpinBox targetPoseZ;
                armarx::RemoteGui::Client::FloatSpinBox targetPoseRoll;
                armarx::RemoteGui::Client::FloatSpinBox targetPosePitch;
                armarx::RemoteGui::Client::FloatSpinBox targetPoseYaw;
            } targetPoseGroup;
 
            struct
            {
                armarx::RemoteGui::Client::GroupBox group;
 
                armarx::RemoteGui::Client::Button stopAllButton;
 
                // Control buttons for this navigator client
                armarx::RemoteGui::Client::Button moveToButton;
                armarx::RemoteGui::Client::Button pauseButton;
                armarx::RemoteGui::Client::Button continueButton;
                armarx::RemoteGui::Client::Button stopButton;
 
            } controlGroup;
        };
 
        RemoteGuiTab tab;
    };
 
} // namespace armarx::navigation::components::navigator